Trajectory Planning and Collision Control of a Mobile Robot: A Penalty-Based PSO Approach

Table 5

Trajectory length (TL) comparison between APSO and existing techniques [32, 33].

Sl. no.	Tasks	TL	Improvement (%)
01.	Figure 8(a), Garcia, [32]	03.43 m	4.66
	Figure 8(b), proposed technique	03.27 m
02.	Figure 9(a), Yahmedi and Fatmi, [33]	24.75%	10.30
	Figure 9(b), proposed technique	22.20%